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<div class="title">correspondence_rejection_sample_consensus_2d.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_2D_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_2D_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/correspondence_rejection_sample_consensus.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;{</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <span class="keyword">namespace </span>registration</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  {</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus2_d.html">   55</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus2_d.html">CorrespondenceRejectorSampleConsensus2D</a>: <span class="keyword">public</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html">CorrespondenceRejectorSampleConsensus</a>&lt;PointT&gt;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    {</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::Ptr PointCloudPtr;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::ConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html">CorrespondenceRejectorSampleConsensus&lt;PointT&gt;::refine_</a>;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html">CorrespondenceRejectorSampleConsensus&lt;PointT&gt;::input_</a>;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html">CorrespondenceRejectorSampleConsensus&lt;PointT&gt;::target_</a>;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html">CorrespondenceRejectorSampleConsensus&lt;PointT&gt;::input_correspondences_</a>;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html">CorrespondenceRejectorSampleConsensus&lt;PointT&gt;::rejection_name_</a>;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html">CorrespondenceRejectorSampleConsensus&lt;PointT&gt;::getClassName</a>;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html">CorrespondenceRejectorSampleConsensus&lt;PointT&gt;::inlier_threshold_</a>;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html">CorrespondenceRejectorSampleConsensus&lt;PointT&gt;::max_iterations_</a>;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        <span class="keyword">using</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html">CorrespondenceRejectorSampleConsensus&lt;PointT&gt;::best_transformation_</a>;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;CorrespondenceRejectorSampleConsensus2D&gt; Ptr;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const CorrespondenceRejectorSampleConsensus2D&gt; ConstPtr;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus2_d.html#ab012e4424c7053cac669aeb0b195abf2">   78</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus2_d.html#ab012e4424c7053cac669aeb0b195abf2">CorrespondenceRejectorSampleConsensus2D</a> ()</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;          : <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus2_d.html#ab7a03045fd53e12810fdd248da09b1e5">projection_matrix_</a> (Eigen::Matrix3f::Identity ())</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        {</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#ab97eb70d3661574301fe1f978576726d">rejection_name_</a> = <span class="stringliteral">&quot;CorrespondenceRejectorSampleConsensus2D&quot;</span>;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;          <span class="comment">// Put the projection matrix together</span></div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;          <span class="comment">//projection_matrix_ (0, 0) = 525.f;</span></div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;          <span class="comment">//projection_matrix_ (1, 1) = 525.f;</span></div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;          <span class="comment">//projection_matrix_ (0, 2) = 320.f;</span></div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;          <span class="comment">//projection_matrix_ (1, 2) = 240.f;</span></div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        }</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus2_d.html#a19bd9c515127d357601e2af9dd490d0e">getRemainingCorrespondences</a> (<span class="keyword">const</span> pcl::Correspondences&amp; original_correspondences, </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;                                     pcl::Correspondences&amp; remaining_correspondences);</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus2_d.html#a4021022e315651acd06ce46132703a68">  102</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus2_d.html#a4021022e315651acd06ce46132703a68">setFocalLengths</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> fx, <span class="keyword">const</span> <span class="keywordtype">float</span> fy)</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        { </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus2_d.html#ab7a03045fd53e12810fdd248da09b1e5">projection_matrix_</a> (0, 0) = fx;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus2_d.html#ab7a03045fd53e12810fdd248da09b1e5">projection_matrix_</a> (1, 1) = fy;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        }</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus2_d.html#acb60713b2e2eb18f8c1f99d4dfc94184">  113</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus2_d.html#acb60713b2e2eb18f8c1f99d4dfc94184">getFocalLengths</a> (<span class="keywordtype">float</span> &amp;fx, <span class="keywordtype">float</span> &amp;fy)<span class="keyword"> const</span></div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;<span class="keyword">        </span>{ </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;          fx = <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus2_d.html#ab7a03045fd53e12810fdd248da09b1e5">projection_matrix_</a> (0, 0); </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;          fy = <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus2_d.html#ab7a03045fd53e12810fdd248da09b1e5">projection_matrix_</a> (1, 1); </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        }</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00125"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus2_d.html#a835f85675a8e713d66d5aecac8e907c7">  125</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus2_d.html#a835f85675a8e713d66d5aecac8e907c7">setCameraCenters</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> cx, <span class="keyword">const</span> <span class="keywordtype">float</span> cy)</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        { </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus2_d.html#ab7a03045fd53e12810fdd248da09b1e5">projection_matrix_</a> (0, 2) = cx;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus2_d.html#ab7a03045fd53e12810fdd248da09b1e5">projection_matrix_</a> (1, 2) = cy;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        }</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00136"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus2_d.html#a0f2d7949d92288be5df3b2cd35dcdbcc">  136</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus2_d.html#a0f2d7949d92288be5df3b2cd35dcdbcc">getCameraCenters</a> (<span class="keywordtype">float</span> &amp;cx, <span class="keywordtype">float</span> &amp;cy)<span class="keyword"> const</span></div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;          cx = <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus2_d.html#ab7a03045fd53e12810fdd248da09b1e5">projection_matrix_</a> (0, 2);</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;          cy = <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus2_d.html#ab7a03045fd53e12810fdd248da09b1e5">projection_matrix_</a> (1, 2);</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        }</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00148"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus2_d.html#af68c645ad702192489173c34cef8d7ed">  148</a></span>&#160;        <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus2_d.html#af68c645ad702192489173c34cef8d7ed">applyRejection</a> (pcl::Correspondences &amp;correspondences)</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        {</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus2_d.html#a19bd9c515127d357601e2af9dd490d0e">getRemainingCorrespondences</a> (*<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a74d516ca516f7421fd86a53dec1a57b1">input_correspondences_</a>, correspondences);</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        }</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
<div class="line"><a name="l00154"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus2_d.html#ab7a03045fd53e12810fdd248da09b1e5">  154</a></span>&#160;        Eigen::Matrix3f <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus2_d.html#ab7a03045fd53e12810fdd248da09b1e5">projection_matrix_</a>;</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    };</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  }</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;}</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/impl/correspondence_rejection_sample_consensus_2d.hpp&gt;</span></div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;<span class="preprocessor">#endif    </span><span class="comment">// PCL_REGISTRATION_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_2D_H_</span></div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus2_d_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus2_d.html">pcl::registration::CorrespondenceRejectorSampleConsensus2D</a></div><div class="ttdoc">CorrespondenceRejectorSampleConsensus2D implements a pixel-based correspondence rejection using Rando...</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus_2d.h:56</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus2_d_html_a0f2d7949d92288be5df3b2cd35dcdbcc"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus2_d.html#a0f2d7949d92288be5df3b2cd35dcdbcc">pcl::registration::CorrespondenceRejectorSampleConsensus2D::getCameraCenters</a></div><div class="ttdeci">void getCameraCenters(float &amp;cx, float &amp;cy) const</div><div class="ttdoc">Reads back the camera center parameters of the target camera.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus_2d.h:136</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus2_d_html_a19bd9c515127d357601e2af9dd490d0e"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus2_d.html#a19bd9c515127d357601e2af9dd490d0e">pcl::registration::CorrespondenceRejectorSampleConsensus2D::getRemainingCorrespondences</a></div><div class="ttdeci">void getRemainingCorrespondences(const pcl::Correspondences &amp;original_correspondences, pcl::Correspondences &amp;remaining_correspondences)</div><div class="ttdoc">Get a list of valid correspondences after rejection from the original set of correspondences.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus_2d.hpp:46</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus2_d_html_a4021022e315651acd06ce46132703a68"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus2_d.html#a4021022e315651acd06ce46132703a68">pcl::registration::CorrespondenceRejectorSampleConsensus2D::setFocalLengths</a></div><div class="ttdeci">void setFocalLengths(const float fx, const float fy)</div><div class="ttdoc">Sets the focal length parameters of the target camera.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus_2d.h:102</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus2_d_html_a835f85675a8e713d66d5aecac8e907c7"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus2_d.html#a835f85675a8e713d66d5aecac8e907c7">pcl::registration::CorrespondenceRejectorSampleConsensus2D::setCameraCenters</a></div><div class="ttdeci">void setCameraCenters(const float cx, const float cy)</div><div class="ttdoc">Sets the camera center parameters of the target camera.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus_2d.h:125</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus2_d_html_ab012e4424c7053cac669aeb0b195abf2"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus2_d.html#ab012e4424c7053cac669aeb0b195abf2">pcl::registration::CorrespondenceRejectorSampleConsensus2D::CorrespondenceRejectorSampleConsensus2D</a></div><div class="ttdeci">CorrespondenceRejectorSampleConsensus2D()</div><div class="ttdoc">Empty constructor. Sets the inlier threshold to 5cm (0.05m), and the maximum number of iterations to ...</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus_2d.h:78</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus2_d_html_ab7a03045fd53e12810fdd248da09b1e5"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus2_d.html#ab7a03045fd53e12810fdd248da09b1e5">pcl::registration::CorrespondenceRejectorSampleConsensus2D::projection_matrix_</a></div><div class="ttdeci">Eigen::Matrix3f projection_matrix_</div><div class="ttdoc">Camera projection matrix.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus_2d.h:154</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus2_d_html_acb60713b2e2eb18f8c1f99d4dfc94184"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus2_d.html#acb60713b2e2eb18f8c1f99d4dfc94184">pcl::registration::CorrespondenceRejectorSampleConsensus2D::getFocalLengths</a></div><div class="ttdeci">void getFocalLengths(float &amp;fx, float &amp;fy) const</div><div class="ttdoc">Reads back the focal length parameters of the target camera.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus_2d.h:113</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus2_d_html_af68c645ad702192489173c34cef8d7ed"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus2_d.html#af68c645ad702192489173c34cef8d7ed">pcl::registration::CorrespondenceRejectorSampleConsensus2D::applyRejection</a></div><div class="ttdeci">void applyRejection(pcl::Correspondences &amp;correspondences)</div><div class="ttdoc">Apply the rejection algorithm.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus_2d.h:148</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html">pcl::registration::CorrespondenceRejectorSampleConsensus</a></div><div class="ttdoc">CorrespondenceRejectorSampleConsensus implements a correspondence rejection using Random Sample Conse...</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_sample_consensus.h:60</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus_html_a74d516ca516f7421fd86a53dec1a57b1"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#a74d516ca516f7421fd86a53dec1a57b1">pcl::registration::CorrespondenceRejectorSampleConsensus::input_correspondences_</a></div><div class="ttdeci">CorrespondencesConstPtr input_correspondences_</div><div class="ttdoc">The input correspondences.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:191</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_sample_consensus_html_ab97eb70d3661574301fe1f978576726d"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html#ab97eb70d3661574301fe1f978576726d">pcl::registration::CorrespondenceRejectorSampleConsensus::rejection_name_</a></div><div class="ttdeci">std::string rejection_name_</div><div class="ttdoc">The name of the rejection method.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:188</div></div>
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